142 lines
3.9 KiB
C
142 lines
3.9 KiB
C
/******************************************************************************
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*
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* $Id$
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*
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* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
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*
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* This file is part of the IgH EtherCAT Master.
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*
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* The IgH EtherCAT Master is free software; you can redistribute it
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* and/or modify it under the terms of the GNU General Public License
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* as published by the Free Software Foundation; either version 2 of the
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* License, or (at your option) any later version.
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*
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* The IgH EtherCAT Master is distributed in the hope that it will be
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* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with the IgH EtherCAT Master; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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*
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* The right to use EtherCAT Technology is granted and comes free of
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* charge under condition of compatibility of product made by
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* Licensee. People intending to distribute/sell products based on the
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* code, have to sign an agreement to guarantee that products using
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* software based on IgH EtherCAT master stay compatible with the actual
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* EtherCAT specification (which are released themselves as an open
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* standard) as the (only) precondition to have the right to use EtherCAT
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* Technology, IP and trade marks.
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*
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*****************************************************************************/
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/**
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\file
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EtherCAT master character device IOCTL commands.
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*/
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/*****************************************************************************/
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#ifndef __EC_IOCTL_H__
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#define __EC_IOCTL_H__
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/*****************************************************************************/
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enum {
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EC_IOCTL_SLAVE_COUNT,
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EC_IOCTL_SLAVE,
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EC_IOCTL_SYNC,
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EC_IOCTL_PDO,
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EC_IOCTL_PDO_ENTRY,
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EC_IOCTL_DOMAIN_COUNT,
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EC_IOCTL_DOMAIN
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};
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/*****************************************************************************/
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#define EC_IOCTL_SLAVE_NAME_SIZE 114
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typedef struct {
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// input
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uint16_t position;
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// outputs
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uint32_t vendor_id;
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uint32_t product_code;
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uint32_t revision_number;
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uint32_t serial_number;
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uint16_t alias;
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uint8_t state;
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uint8_t sync_count;
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char name[EC_IOCTL_SLAVE_NAME_SIZE];
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} ec_ioctl_slave_t;
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/*****************************************************************************/
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typedef struct {
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// inputs
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uint16_t slave_position;
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unsigned int sync_index;
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// outputs
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uint16_t physical_start_address;
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uint16_t default_size;
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uint8_t control_register;
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uint8_t enable;
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uint8_t assign_source;
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uint8_t pdo_count;
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} ec_ioctl_sync_t;
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/*****************************************************************************/
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#define EC_IOCTL_PDO_NAME_SIZE 114
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typedef struct {
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// inputs
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uint16_t slave_position;
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unsigned int sync_index;
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unsigned int pdo_pos;
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// outputs
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uint8_t dir;
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uint16_t index;
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uint8_t entry_count;
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char name[EC_IOCTL_PDO_NAME_SIZE];
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} ec_ioctl_pdo_t;
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/*****************************************************************************/
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#define EC_IOCTL_PDO_ENTRY_NAME_SIZE 110
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typedef struct {
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// inputs
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uint16_t slave_position;
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unsigned int sync_index;
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unsigned int pdo_pos;
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unsigned int entry_pos;
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// outputs
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uint16_t index;
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uint8_t subindex;
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uint8_t bit_length;
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char name[EC_IOCTL_PDO_NAME_SIZE];
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} ec_ioctl_pdo_entry_t;
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/*****************************************************************************/
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typedef struct {
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// inputs
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unsigned int index;
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// outputs
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unsigned int data_size;
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uint32_t logical_base_address;
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uint16_t working_counter;
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uint16_t expected_working_counter;
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} ec_ioctl_domain_t;
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/*****************************************************************************/
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#endif
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